自动公路系统模拟器的视景仿真技术研究
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摘要
近年来自动公路系统(Automated Highway System，AHS)，作为智能运输系统的子系统之一越来越受到重视。以日本和美国为代表的国家十分重视自动公路系统的研究，由于自动公路系统研究需要大量实验工作，耗费大量的人力、物力和时间，往往不能很好地、迅速地获得理想的实验数据：同时天气等因素给实验带来一定困难和影响。因此对自动公路系统进行仿真研究越来越迫切。而自动公路模拟器是进行该领域仿真的有效手段之一，该平台不但可以有针对性地进行实验，减少人力、物力和时间的耗费；同时能直观生动地显示实验过程和结果。因此，本文选取自动公路系统中的视景为研究对象开展了研究工作。
本文在介绍了驾驶模拟器及模拟器视景系统、自动公路系统的国内外研究现状的基础上，阐述了对自动公路系统模拟器研究的意义，分析了视景仿真系统视景仿真基础和优化技术，选用三维建模软件Creator和视景驱动软件Vega作为视景开发平台，介绍了系统框架和关键技术。实现了基于Creator的视景数据库的建立过程和基于Vega的实时视景驱动程序。阐述了基于粒子系统的自然现象(如雾、雨、雪等)模拟的原理和实现方法。最后介绍了碰撞检测在视景仿真系统中的应用。尤其利用“隐形墙”技术设计了基于磁性导航的磁道钉系统的碰撞检测算法，并在视景系统中得到应用。
通过上述研究，取得了以下成果：
(1)建立了两套三维场景模型——城市交通环境和虚拟试验场。城市交通环境场景是以武汉市余家头区域的部分路网为基础，包括道路、建筑物、信号灯、车辆、行人和建筑物等。
(2)利用视景驱动软件实现了信号灯的周期控制、车辆的行驶；并实现了自然现象(包括雾、雨、雪等)的模拟。
(3)实现了动态物体和静态物体的碰撞检测，并提示相应信息；在虚拟试验场场景中实现了对车辆相对于磁道钉位置的检测模拟，以利于后续自动控制模型的处理。
(4)编写了一个简易的场景漫游系统，实现了三维场景的漫游显示、观察者视点的选择、键盘控制漫游参数等功能。
Automated Highway System (AHS) is recently regarded as one subsystem of Intelligent Transport System (ITS). The research of AHS is developed actively in some country, such as Japan and United States. There are many experiments in the research of AHS, so more people should take part in it and more money and time is consumed. But these experiments don't get good results quickly, and some other factors bring about certain difficulties and bad influences. So it is very exigent to perform research on AHS simulation. And AHS simulator is one of effective ways of this research. If the experiments were developed after they had been done in the simulators, there would be advantageous to reduce labor, money and time. And it will take on the process and results of experiments in an intuitionistic and vivid display. The scene system of the AHS simulator was selected as my research in the dissertation.
The development of driving simulators, scene simulation and automated highway system at home and aboard is introduced in the dissertation. The significance of AHS simulators is expatiated. The foundation and optimizing technology of scene simulation in real-time simulation system is analysized. Creator, 3D-modeling software and Vega, real-time simulation software are used as the developing tool of real-time simulation. The functions of these softwares and key technology are analyzed. The upbuilding process of 3D models is realized based on Creator and the real-time simulation is developed based on Vega. Theory of modeling based on particles system is analyzed and used to simulate natural phenomena such as rain and snow. The method of intersection tests and the concept of "Transparent Wall" are introduced in detail, which is used in perform intersection tests between a player and static object such as parterres or guard boards on roads. The simulation of getting the front and back offsets and driving angel between the selected vehicle and the line composed of
magnetic markers. A roaming system of virtual simulation has been developed based on above-mentioned models and modeling technologies.
The arithmetic method of intersection tests in an AHS simulation system based on magnetic-marker navigation, using the way named by "transparent walls". And this method is put into use in the virtual scene system now.
Through the above-mentioned research, the work done are listed as follows:
(1) Two virtual scene models are built up, an urban transport scene and a virtual trailing ground. There are roads, traffic signs, signal lamps, vehicles and pedestrians, building and so on in the urban transport scene.
(2) The signal lamps' phase changing, vehicles' running, and pedestrians' walking are realized. And some natural phenomena such as fog, snow and rain are simulated.
(3) The intersection tests of dynamic objects and static ones in the scene such as the bump between a car and the parterre on the roadside are developed, and the clues is given on the screen. And testing a vehicle's position related to the line of magnetic marks in the virtual trailing ground is simulated in favor of successive control models.
(4) A simple roaming system is developed to realize cruising the 3D virtual scenes.
本文在介绍了驾驶模拟器及模拟器视景系统、自动公路系统的国内外研究现状的基础上，阐述了对自动公路系统模拟器研究的意义，分析了视景仿真系统视景仿真基础和优化技术，选用三维建模软件Creator和视景驱动软件Vega作为视景开发平台，介绍了系统框架和关键技术。实现了基于Creator的视景数据库的建立过程和基于Vega的实时视景驱动程序。阐述了基于粒子系统的自然现象(如雾、雨、雪等)模拟的原理和实现方法。最后介绍了碰撞检测在视景仿真系统中的应用。尤其利用“隐形墙”技术设计了基于磁性导航的磁道钉系统的碰撞检测算法，并在视景系统中得到应用。
通过上述研究，取得了以下成果：
(1)建立了两套三维场景模型——城市交通环境和虚拟试验场。城市交通环境场景是以武汉市余家头区域的部分路网为基础，包括道路、建筑物、信号灯、车辆、行人和建筑物等。
(2)利用视景驱动软件实现了信号灯的周期控制、车辆的行驶；并实现了自然现象(包括雾、雨、雪等)的模拟。
(3)实现了动态物体和静态物体的碰撞检测，并提示相应信息；在虚拟试验场场景中实现了对车辆相对于磁道钉位置的检测模拟，以利于后续自动控制模型的处理。
(4)编写了一个简易的场景漫游系统，实现了三维场景的漫游显示、观察者视点的选择、键盘控制漫游参数等功能。
Automated Highway System (AHS) is recently regarded as one subsystem of Intelligent Transport System (ITS). The research of AHS is developed actively in some country, such as Japan and United States. There are many experiments in the research of AHS, so more people should take part in it and more money and time is consumed. But these experiments don't get good results quickly, and some other factors bring about certain difficulties and bad influences. So it is very exigent to perform research on AHS simulation. And AHS simulator is one of effective ways of this research. If the experiments were developed after they had been done in the simulators, there would be advantageous to reduce labor, money and time. And it will take on the process and results of experiments in an intuitionistic and vivid display. The scene system of the AHS simulator was selected as my research in the dissertation.
The development of driving simulators, scene simulation and automated highway system at home and aboard is introduced in the dissertation. The significance of AHS simulators is expatiated. The foundation and optimizing technology of scene simulation in real-time simulation system is analysized. Creator, 3D-modeling software and Vega, real-time simulation software are used as the developing tool of real-time simulation. The functions of these softwares and key technology are analyzed. The upbuilding process of 3D models is realized based on Creator and the real-time simulation is developed based on Vega. Theory of modeling based on particles system is analyzed and used to simulate natural phenomena such as rain and snow. The method of intersection tests and the concept of "Transparent Wall" are introduced in detail, which is used in perform intersection tests between a player and static object such as parterres or guard boards on roads. The simulation of getting the front and back offsets and driving angel between the selected vehicle and the line composed of
magnetic markers. A roaming system of virtual simulation has been developed based on above-mentioned models and modeling technologies.
The arithmetic method of intersection tests in an AHS simulation system based on magnetic-marker navigation, using the way named by "transparent walls". And this method is put into use in the virtual scene system now.
Through the above-mentioned research, the work done are listed as follows:
(1) Two virtual scene models are built up, an urban transport scene and a virtual trailing ground. There are roads, traffic signs, signal lamps, vehicles and pedestrians, building and so on in the urban transport scene.
(2) The signal lamps' phase changing, vehicles' running, and pedestrians' walking are realized. And some natural phenomena such as fog, snow and rain are simulated.
(3) The intersection tests of dynamic objects and static ones in the scene such as the bump between a car and the parterre on the roadside are developed, and the clues is given on the screen. And testing a vehicle's position related to the line of magnetic marks in the virtual trailing ground is simulated in favor of successive control models.
(4) A simple roaming system is developed to realize cruising the 3D virtual scenes.
引文
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[2] Jurgen Guldner, Satyajit Patwardhan, Han-Shue Tan. Coding of Road Information for Automated Highways. California PATH Working Paper, UCB-ITS-PWP-97-7
[3] John Lathrop, Kan Chen. National Automated Highway System Consortium: Modeling Stakeholder Preferences Project. California PATH Research Report,UCB-ITS-PRR-97-26
[4] 吴超仲．基于磁道钉导航的车道保持系统信息融合与控制技术研究[博士学位论文]．武汉：武汉理工大学，2002
[5] Tkamasa Suetomi, Shuji Hata．驾驶模拟器．自动车技术，1991，45(3)：26～31
[6] S. Arulmuni. Comprehensive Data Visualisation Software For The Leeds Driving Simulator, 2000
[7] Paul Bounker, Thomas M. McAfee,Timothy Lee. Next Generation Vehicle Architecture for Embedded Simulation, IVSS-2002-MAS-06, http://www.quantum3d.com
[8] 熊坚，曾纪国，丁立等．面向道路交通的汽车驾驶模拟器的研究及应用．中国公路学报，2002，15(2)：117～119
[9] Jeffry A.Greenber, Thomas J.Park. The Ford Driving Simulator. SAE Paper 940176
[10] G. Watson, Y.E. Papelis, T.C.Lin. The Iowa Driving Simulator:An Implemetation and Application Overview. SAE Paper 950174
[11] Joseph Kearney, Peter Willemsen. Scenario Languages for Driving Simulation. University of Iowa
[12] 汽车动态模拟国家重点实验室．开发性驾驶模拟器技术简介．长春：吉林工业大学，2002
[13] 宗昌富，胡子正，杨小波．开发型车辆驾驶模拟器体感模拟技术研究．自然科学进展，1997，7(5)：606～611
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[19] 喻细辉．立交桥虚拟现实建模及可视化数据生成研究[硕士学位论文]．昆明：昆明理工大学，2003
[20] 吴家铸，党岗，刘华锋等．视景仿真技术与应用．西安：西安电子科技大学出版社，2001：56～60
[21] Creating Models for Simulations. MultiGen-Paradigm, Inc,2003
[22] Desktop Tutor for Creator. MultiGen-Paradigm, Inc,2003
[23] Creating Terrain for Simulations. MultiGen-Paradigm, Inc,2003
[24] 关克平．航海模拟器视景建模技术研究及应用[硕士学位论文]．上海：上海海运学院，2002
[25] 孙继荣．塔台模拟机微机版视景位的设计和实现[硕士学位论文]．成都：四川大学，2003
[26] Lyn X User Help. MultiGen-Paradigm, Inc,2003
[27] Vega Programmer's Help. MultiGne-Paradigm, Inc,2003
[28] 苏虎，周美玉．面向对象的实时三维视景仿真系统的实现．计算机工程，2002，6：118～119
[29] 凌锋．飞行视景仿真系统研究与开发[硕士学位论文]．西安：西北工业大学，2003
[30] 罗杰．面向建筑的虚拟漫游系统研究与实现[硕士学位论文]．大庆：大庆石油学院，2002
[31] 许轶超．基于虚拟现实技术的机舱漫游系统[硕士学位论文]．武汉：武汉理工大学，2003
[32] 陈刚．虚拟视景仿真中的LOD及mipmapping技术．计算机应用研究，1997，(5)：75～77
[33] 敬万钧．虚拟现实技术——MultiGen、Vega应用研究[硕士学位论文]．成都：电子科技大学，2002
[34] 敬万钧．虚拟现实技术——MultiGen、Vega应用研究[硕士学位论文]．成都：电子科技大学，2002
[35] 孙腾达，尹勇，金一丞．船舶操纵模拟器视景系统中视点跟踪的实现．大连海事大学学报，2002，28(1)：26～30
[36] 苏虎，周美玉．高速列车模拟器的视景建模与仿真．系统仿真学报，2001，13(5)：588～591
[37] 谢锋．数字城市中建筑物的三维实现[硕士学位论文]．西安：长安大学，2003
[38] 陆化普．城市交通现代化管理．北京：人民交通出版社，1999：157～167
[39] Samuel Ranta-Eskola. BSP Trees and Polygon Removal in Real Time 3D Modeling[Master's Dissertation]. Sweden:Uppsala University,2000
[40] 罗斌．特路线路三维选线设计中景观建模方法的研究[硕士学位论文]．成都：西南交通大学，2002
[41] 苏虎．分布式列车仿真系统中视景实时生成算法的研究[博士学位论文]．成都：西南交通大学，2002
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[51] 杨利兵，严新平，吴超仲等．磁道钉导航控制系统研究．武汉理工大学学报[交通科学与工程版]，2002，26(4)：454～456
[52] 刘诗儒，桌面虚拟校园漫游系统的研究与实现[硕士学位论文]．太原：太原理工大学，2003
[2] Jurgen Guldner, Satyajit Patwardhan, Han-Shue Tan. Coding of Road Information for Automated Highways. California PATH Working Paper, UCB-ITS-PWP-97-7
[3] John Lathrop, Kan Chen. National Automated Highway System Consortium: Modeling Stakeholder Preferences Project. California PATH Research Report,UCB-ITS-PRR-97-26
[4] 吴超仲．基于磁道钉导航的车道保持系统信息融合与控制技术研究[博士学位论文]．武汉：武汉理工大学，2002
[5] Tkamasa Suetomi, Shuji Hata．驾驶模拟器．自动车技术，1991，45(3)：26～31
[6] S. Arulmuni. Comprehensive Data Visualisation Software For The Leeds Driving Simulator, 2000
[7] Paul Bounker, Thomas M. McAfee,Timothy Lee. Next Generation Vehicle Architecture for Embedded Simulation, IVSS-2002-MAS-06, http://www.quantum3d.com
[8] 熊坚，曾纪国，丁立等．面向道路交通的汽车驾驶模拟器的研究及应用．中国公路学报，2002，15(2)：117～119
[9] Jeffry A.Greenber, Thomas J.Park. The Ford Driving Simulator. SAE Paper 940176
[10] G. Watson, Y.E. Papelis, T.C.Lin. The Iowa Driving Simulator:An Implemetation and Application Overview. SAE Paper 950174
[11] Joseph Kearney, Peter Willemsen. Scenario Languages for Driving Simulation. University of Iowa
[12] 汽车动态模拟国家重点实验室．开发性驾驶模拟器技术简介．长春：吉林工业大学，2002
[13] 宗昌富，胡子正，杨小波．开发型车辆驾驶模拟器体感模拟技术研究．自然科学进展，1997，7(5)：606～611
[14] 朱忠祥．汽车驾驶训练模拟器视景建模技术的研究[硕士学位论文]．北京：中国农业大学，2002
[15] James Gruenling, James Bernard, James Bernard, et al. Driving Simulation. SAE Paper, 980223
[16] 杨利兵，吴超仲，严新平．自动公路系统国内外研究现状．第四届全国交通运输领域青年学术会议论文集．北京：中国民航出版社，2001：998～1002
[17] 万华森．道路交通模拟器视景建模及图像生成研究[硕土学位论文]．昆明：昆明理工大学交通学院，2003
[18] 唐新蓬，汽车驾驶模拟器．世界汽车，1998，(4)：12～18
[19] 喻细辉．立交桥虚拟现实建模及可视化数据生成研究[硕士学位论文]．昆明：昆明理工大学，2003
[20] 吴家铸，党岗，刘华锋等．视景仿真技术与应用．西安：西安电子科技大学出版社，2001：56～60
[21] Creating Models for Simulations. MultiGen-Paradigm, Inc,2003
[22] Desktop Tutor for Creator. MultiGen-Paradigm, Inc,2003
[23] Creating Terrain for Simulations. MultiGen-Paradigm, Inc,2003
[24] 关克平．航海模拟器视景建模技术研究及应用[硕士学位论文]．上海：上海海运学院，2002
[25] 孙继荣．塔台模拟机微机版视景位的设计和实现[硕士学位论文]．成都：四川大学，2003
[26] Lyn X User Help. MultiGen-Paradigm, Inc,2003
[27] Vega Programmer's Help. MultiGne-Paradigm, Inc,2003
[28] 苏虎，周美玉．面向对象的实时三维视景仿真系统的实现．计算机工程，2002，6：118～119
[29] 凌锋．飞行视景仿真系统研究与开发[硕士学位论文]．西安：西北工业大学，2003
[30] 罗杰．面向建筑的虚拟漫游系统研究与实现[硕士学位论文]．大庆：大庆石油学院，2002
[31] 许轶超．基于虚拟现实技术的机舱漫游系统[硕士学位论文]．武汉：武汉理工大学，2003
[32] 陈刚．虚拟视景仿真中的LOD及mipmapping技术．计算机应用研究，1997，(5)：75～77
[33] 敬万钧．虚拟现实技术——MultiGen、Vega应用研究[硕士学位论文]．成都：电子科技大学，2002
[34] 敬万钧．虚拟现实技术——MultiGen、Vega应用研究[硕士学位论文]．成都：电子科技大学，2002
[35] 孙腾达，尹勇，金一丞．船舶操纵模拟器视景系统中视点跟踪的实现．大连海事大学学报，2002，28(1)：26～30
[36] 苏虎，周美玉．高速列车模拟器的视景建模与仿真．系统仿真学报，2001，13(5)：588～591
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